code: def assemble_pose(rotations_3d, translations_3d, sizes_3d):
      """Assemble pose."""
      batch_size = rotations_3d.shape[0]
      rotations_3d = tf.reshape(rotations_3d, [batch_size, -1, 3, 3])
      sizes_3d = tf.linalg.diag(sizes_3d)
      rotations_3d = rotations_3d @ sizes_3d
      translations_3d = tf.reshape(
          translations_3d, [batch_size, -1, 3, 1]
      )
      poses = tf.concat(
          [
              tf.concat(
                  [rotations_3d, tf.zeros([batch_size, 3, 1, 3])],
                  axis=-2,
              ),
              tf.concat(
                  [translations_3d, tf.ones([batch_size, 3, 1, 1])],
                  axis=-2,
              ),
          ],
          axis=-1,
      )
      return poses
  
file_path: graphics/tensorflow_graphics/projects/points_to_3Dobjects/models/centernet_utils.py
imports: import tensorflow
label_desc: Use image node_id 3 for calling a global function with example usage: assemble_pose(rotations_3d, translations_3d, sizes_3d) and returns: poses